public override void OnVisualize(Visualizer visualizer)
{
foreach (var signal in Visualized)
{
Color color;
switch (signal.CurrentState)
{
case "green":
color = Color.green;
break;
case "yellow":
color = Color.yellow;
break;
case "red":
color = Color.red;
break;
default:
color = Color.black;
break;
}
WireframeBoxes.Draw(signal.gameObject.transform.localToWorldMatrix, signal.boundOffsets, signal.boundScale, color);
}
}
void Update()
{
foreach (var v in Visualized)
{
var collider = v.Key;
var box = v.Value;
WireframeBoxes.Draw(collider.gameObject.transform.localToWorldMatrix, new Vector3(0f, collider.bounds.extents.y, 0f), box.Size, box.Color);
}
if (Bridge == null || Bridge.Status != Status.Connected)
{
return;
}
if (Time.time < nextSend)
{
return;
}
Writer.Write(new Detected3DObjectData()
{
Name = Name,
Frame = Frame,
Time = SimulatorManager.Instance.CurrentTime,
Sequence = seqId++,
Data = Detected.Values.ToArray(),
});
}
private void Update()
{
if (Visualize)
{
foreach (var v in Visualized)
{
var collider = v.Key;
var box = v.Value;
if (collider.gameObject.activeInHierarchy)
{
WireframeBoxes.Draw(collider.gameObject.transform.localToWorldMatrix, collider is MeshCollider ? Vector3.zero : new Vector3(0f, collider.bounds.extents.y, 0f), box.Size, box.Color);
}
}
}
if (Bridge == null || Bridge.Status != Status.Connected)
{
return;
}
if (Time.time < nextPublish)
{
return;
}
Writer.Write(new DetectedRadarObjectData()
{
Name = Name,
Frame = Frame,
Time = SimulatorManager.Instance.CurrentTime,
Sequence = seqId++,
Data = Detected.Values.ToArray(),
});
}
public override void OnVisualize(Visualizer visualizer)
{
foreach (var detected in Detected)
{
Color color;
switch (detected.Label)
{
case "Car":
color = Color.green;
break;
case "Pedestrian":
color = Color.yellow;
break;
case "bicycle":
color = Color.cyan;
break;
default:
color = Color.magenta;
break;
}
// TODO: inverse transfrom for these?
// relPos.Set(-relPos.y, relPos.z, relPos.x);
// relRot.Set(-relRot.y, relRot.z, relRot.x, relRot.w);
var transform = Matrix4x4.TRS((float3)detected.Position, detected.Rotation, Vector3.one);
WireframeBoxes.Draw(transform, Vector3.zero, detected.Scale, color);
}
}
public override void OnVisualize(Visualizer visualizer)
{
foreach (uint id in CurrentIDs)
{
var col = Detected[id].Item2;
if (col.gameObject.activeInHierarchy)
{
GameObject parent = col.gameObject.transform.parent.gameObject;
Color color = Color.green;
if (parent.layer == LayerMask.NameToLayer("Pedestrian"))
{
color = Color.yellow;
}
BoxCollider box = col as BoxCollider;
WireframeBoxes.Draw
(
box.transform.localToWorldMatrix,
new Vector3(0f, box.bounds.extents.y, 0f),
box.size,
color
);
}
}
}
public override void OnVisualize(Visualizer visualizer)
{
foreach (var v in Visualized)
{
var collider = v.Key;
var box = v.Value;
if (collider.gameObject.activeInHierarchy)
{
WireframeBoxes.Draw(collider.gameObject.transform.localToWorldMatrix, collider is MeshCollider ? Vector3.zero : new Vector3(0f, collider.bounds.extents.y, 0f), box.Size, box.Color);
}
}
}
public override void OnVisualize(Visualizer visualizer)
{
foreach (var other in Visualized)
{
if (!other.gameObject.activeInHierarchy)
{
return;
}
Vector3 size = Vector3.zero;
if (other is MeshCollider)
{
var mesh = other as MeshCollider;
var npcC = mesh.gameObject.GetComponentInParent <NPCController>();
if (npcC != null)
{
size = npcC.bounds.size;
}
else
{
var egoA = mesh.GetComponent <VehicleActions>();
size = egoA.bounds.size;
}
}
else if (other is CapsuleCollider)
{
var capsule = other as CapsuleCollider;
size = new Vector3(capsule.radius * 2, capsule.height, capsule.radius * 2);
}
Color color = Color.magenta;
if (other.gameObject.layer == LayerMask.NameToLayer("NPC"))
{
color = Color.green;
}
else if (other.gameObject.layer == LayerMask.NameToLayer("Pedestrian"))
{
color = Color.yellow;
}
else if (other.gameObject.layer == LayerMask.NameToLayer("Bicycle"))
{
color = Color.cyan;
}
WireframeBoxes.Draw(other.gameObject.transform.localToWorldMatrix, other is MeshCollider ? Vector3.zero : new Vector3(0f, other.bounds.extents.y, 0f), size, color);
}
}
public override void OnVisualize(Visualizer visualizer)
{
foreach (var v in Visualized)
{
var collider = v.Key;
var box = v.Value;
if (collider.gameObject.activeInHierarchy)
{
WireframeBoxes.Draw(collider.gameObject.transform.localToWorldMatrix, collider is MeshCollider ? Vector3.zero : new Vector3(0f, collider.bounds.extents.y, 0f), box.Size, box.Color);
}
}
foreach (var radar in radars)
{
Graphics.DrawMesh(radar.GetComponent <MeshFilter>().sharedMesh, transform.localToWorldMatrix, radar.RadarMeshRenderer.sharedMaterial, LayerMask.NameToLayer("Sensor"));
}
}
public override void OnVisualize(Visualizer visualizer)
{
foreach (var other in Visualized)
{
if (other.gameObject.activeInHierarchy)
{
GameObject parent = other.gameObject.transform.parent.gameObject;
Color color = Color.green;
if (parent.layer == LayerMask.NameToLayer("Pedestrian"))
{
color = Color.yellow;
}
BoxCollider box = other as BoxCollider;
WireframeBoxes.Draw(box.transform.localToWorldMatrix, new UnityEngine.Vector3(0f, box.bounds.extents.y, 0f), box.size, color);
}
}
}
public override void OnVisualize(Visualizer visualizer)
{
MaxTracked = Math.Max(MaxTracked, Detected.Length);
foreach (var detected in Detected)
{
Color color;
switch (detected.Label)
{
case "Car":
color = Color.green;
break;
case "Pedestrian":
color = Color.yellow;
break;
case "Bicycle":
color = Color.cyan;
break;
default:
color = Color.magenta;
break;
}
if (MapOrigin == null)
{
Debug.LogError("Fail to visualize Apollo perceptions due to null MapOrigin.");
return;
}
var position = MapOrigin.NorthingEastingToPosition(detected.Gps.Northing, detected.Gps.Easting);
position.y = (float)detected.Gps.Altitude - MapOrigin.AltitudeOffset;
var mapRotation = MapOrigin.transform.localRotation;
var rotationY = detected.Heading + mapRotation.eulerAngles.y;
Quaternion rotation = Quaternion.Euler(0, (float)rotationY, 0);
var transform = Matrix4x4.TRS(position, rotation, Vector3.one);
WireframeBoxes.Draw(transform, Vector3.zero, detected.Scale, color);
}
}
void Update()
{
if (Detected == null)
{
return;
}
foreach (var detected in Detected)
{
Color color;
switch (detected.Label)
{
case "Car":
color = Color.green;
break;
case "Pedestrian":
color = Color.yellow;
break;
case "bicycle":
color = Color.cyan;
break;
default:
color = Color.magenta;
break;
}
// TODO: inverse transfrom for these?
// relPos.Set(-relPos.y, relPos.z, relPos.x);
// relRot.Set(-relRot.y, relRot.z, relRot.x, relRot.w);
var transform = Matrix4x4.TRS(detected.Position, detected.Rotation, Vector3.one);
WireframeBoxes.Draw(transform, Vector3.zero, detected.Scale, color);
}
}